Mitsubishi MOTION CONTROLLERS Q172DCPU Specifications

MITSUBISHI ELECTRIC
MELSEC System Q
Programmable Controllers
Quick-Start Guide
Motion Controller
Q170MCPU
Q172DCPU
Q173DCPU
Art. No.:
09 09 2009
Version A
MITSUBISHI ELECTRIC
INDUSTRIAL AUTOMATION
Quick-Start Guide
Motion controller Q170MCPU/Q172DCPU/Q173DCPU
Art. no.:
A
Version
09/2009 pdp - rw
Revisions/Additions/Corrections
—
About This Manual
The texts, illustration, diagrams and examples in this manual are provided
for information purposes only. They are intended as aids to help explain the
installation, operation, programming and use of the
Mitsubishi motion controllers.
If you have any questions about the installation and operation of any of the
products described in this manual please contact your local sales office
or distributor (see back cover). You can find the latest information
and answers to frequently asked questions on our website at
www.mitsubishi-automation.com.
MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes
to this manual or the technical specifications of its products at any time without notice.
©2005
MITSUBISHI ELECTRIC EUROPE B.V.
Related Manuals
The following manuals are also related to this Quick-Start Guide. These can be obtained free of charge
from our website at www.mitsubishi-automation.com.
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PLC
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Device Manual Name
Manual Number/
Art. No.
Q170MCPU Motion controller User's Manual
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device lists, error lists and others.
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error codes and others.
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QnUCPU User's Manual (Function Explanation, Program Fundamentals)
This manual explains the functions, programming methods and devices and others to create programs
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debugging, error codes and others of MELSAP3.
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This manual explains the specifications of the I/O modules, connector, connector/terminal block conversion modules and others.
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Safety Guidelines
General safety information and precautions
For use by qualified staff only
This manual is only intended for use by properly trained and qualified electrical technicians who are
fully acquainted with the relevant automation technology safety standards. All work with the hardware described, including system design, installation, configuration, maintenance, service and testing of the equipment, may only be performed by trained electrical technicians with approved qualifications who are fully acquainted with all the applicable automation technology safety standards
and regulations. Any operations or modifications to the hardware and/or software of our products
not specifically described in this manual may only be performed by authorised MITSUBISHI ELECTRIC
staff.
Proper use of the products
The motion controllers are only intended for the specific applications explicitly described in this manual. All parameters and settings specified in this manual must be observed. The products described
have all been designed, manufactured, tested and documented in strict compliance with the relevant
safety standards. Unqualified modification of the hardware or software or failure to observe the warnings on the products and in this manual may result in serious personal injury and/or damage to property. Only peripherals and expansion equipment specifically recommended and approved by
MITSUBISHI ELECTRIC may be used in combination with programmable controllers of MELSEC
System Q.
All and any other uses or application of the products shall be deemed to be improper.
Relevant safety regulations
All safety and accident prevention regulations relevant to your specific application must be observed
in the system design, installation, configuration, maintenance, servicing and testing of these products.
The regulations listed below are particularly important in this regard.
This list does not claim to be complete, however; you are responsible for being familiar with and conforming to the regulations applicable to you in your location.
● VDE Standards
– VDE 0100
Regulations for the erection of power installations with rated voltages below 1000 V
– VDE 0105
Operation of power installations
– VDE 0113
Electrical installations with electronic equipment
– VDE 0160
Electronic equipment for use in power installations
– VDE 0550/0551
Regulations for transformers
– VDE 0700
Safety of electrical appliances for household use and similar applications
– VDE 0860
Safety regulations for mains-powered electronic appliances and their accessories for household use and similar applications.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
I
● Fire safety regulations
● Accident prevention regulations
– VBG Nr.4
Electrical systems and equipment
Safety warnings in this manual
In this manual warnings that are relevant for safety are identified as follows:
II
m
DANGER:
b
WARNING:
Failure to observe the safety warnings identified with this symbol can result in health and injury
hazards for the user.
Failure to observe the safety warnings identified with this symbol can result in damage to the
equipment or other property.
Specific safety information and precautions
The following safety precautions are intended as a general guideline for using PLC systems together
with other equipment. These precautions must always be observed in the design, installation and operation of all control systems.
m
DANGER:
● Observe all safety and accident prevention regulations applicable to your specific application. Always disconnect all power supplies before performing installation and wiring work
or opening any of the assemblies, components and devices.
● Assemblies, components and devices must always be installed in a shockproof housing fitted
with a proper cover and fuses or circuit breakers.
● Devices with a permanent connection to the mains power supply must be integrated in the
building installations with an all-pole disconnection switch and a suitable fuse.
● Check power cables and lines connected to the equipment regularly for breaks and insulation
damage. If cable damage is found immediately disconnect the equipment and the cables
from the power supply and replace the defective cabling.
● Before using the equipment for the first time check that the power supply rating matches that
of the local mains power.
● Take appropriate steps to ensure that cable damage or core breaks in the signal lines cannot
cause undefined states in the equipment.
● You are responsible for taking the necessary precautions to ensure that programs interrupted by brownouts and power failures can be restarted properly and safely. In particular, you
must ensure that dangerous conditions cannot occur under any circumstances, even for brief
periods.
● EMERGENCY OFF facilities conforming to EN 60204/IEC 204 and VDE 0113 must remain fully
operative at all times and in all PLC operating modes. The EMERGENCY OFF facility reset
function must be designed so that it cannot ever cause an uncontrolled or undefined restart.
● You must implement both hardware and software safety precautions to prevent the possibility of undefined control system states caused by signal line cable or core breaks.
● When using modules always ensure that all electrical and mechanical specifications and
requirements are observed exactly.
● Residual current protective devices pursuant to DIN VDE Standard 0641 Parts 1-3 are not
adequate on their own as protection against indirect contact for installations with PLC
systems. Additional and/or other protection facilities are essential for such installations.
● Do not install/remove the module onto/from base unit or terminal block more than 50 times,
after the first use of the product (conforming to IEC 61131-2). Failure to do so may cause the
module to malfunction due to poor contact of connector.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
III
Precautions to prevent damages by electrostatic discharge
Electronic devices and modules can be damaged by electrostatic charge, which is conducted from the
human body to components of the PLC. Always take the following precautions, when handling the
PLC:
b
WARNING:
● Before touching a module of the PLC, always touch grounded metal, etc. to discharge static
electricity from human body.
● Wear isolating gloves when touching the powered PLC, e. g. at maintenance during visual
check.
● You shouldn’t wear clothing made of synthetic fibre at low humidity. This clothing gets a very
high rate of electrostatic charge.
IV
Screenshots and Software version
All screenshots in this manual were captured with versions of the programming software listed in section 4.2.1 running under Windows XP.
Slight modifications could occur in case of newer software versions.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
V
Typographic Conventions
Use of notes
Notes containing important information are clearly identified as follows:
NOTE
Note text
Use of examples
Examples containing important information are clearly identified as follows:
Example 왓
Example text
쑶
Numbering in figures and illustrations
Reference numbers in figures and illustrations are shown with white numbers in a black circle and the
corresponding explanations shown beneath the illustrations are identified with the same numbers,
like this:
Procedures
In some cases the setup, operation, maintenance and other instructions are explained with numbered procedures. The individual steps of these procedures are numbered in ascending order with
black numbers in a white circle, and they must be performed in the exact order shown:
Text.
Text.
Text.
Footnotes in tables
Footnote characters in tables are printed in superscript and the corresponding footnotes shown beneath the table are identified by the same characters, also in superscript.
If a table contains more than one footnote, they are all listed below the table and numbered in ascending order with black numbers in a white circle, like this:
VI
Text
Text
Text
Table of Contents
Table of Contents
1
Introduction
1.1
What is motion control? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1.1
1.1.2
1.2
Block diagram of a motion control system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Difference between Q170MCPU and QD Motion controllers . . . . . . . . . . . . . . . . . . . . 1-2
Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.1
1.2.2
Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Q172DCPU, Q173DCPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.3
Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
2
Details of the modules
2.1
Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1
2.1.2
2.1.3
2.2
Frontview and partnames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Minimum equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Q172DCPU/Q173DCPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.2.1
2.2.2
2.2.3
Frontview and partnames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Minimum equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
3
Mounting and wiring
3.1
Module mounting into cabinet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1
3.1.2
3.2
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.2.1
3.2.2
3.3
Mounting of Q170MCPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Mounting of Q172DCPU/Q173DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Wiring for Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Wiring for QD Motion controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
SSCNET III connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
SSCNET III cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Connection between the Q170MCPU and servo amplifiers . . . . . . . . . . . . . . . . . . . . . 3-11
Connection between the Q172DCPU and servo amplifiers . . . . . . . . . . . . . . . . . . . . . 3-12
Connection between the Q173DCPU and servo amplifiers . . . . . . . . . . . . . . . . . . . . . 3-13
Setting the axis No. and axis select switch of servo amplifier . . . . . . . . . . . . . . . . . . . 3-14
4
Start-up and trial operation
4.1
Start-up procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2
Software installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.2.1
4.2.2
Programming software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Operating system (OS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
VII
Table of Contents
5
Project creation
5.1
Sample project creation with MT Developer2 and GX Developer . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2
Additional procedures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.2.1
5.2.2
5.2.3
5.2.4
5.2.5
5.2.6
6
Sample programs
6.1
Sample program with OS SV22: 2_axes_motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.1.1
6.1.2
6.1.3
6.1.4
6.1.5
6.1.6
6.1.7
6.2
System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
System setting data of the motion CPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Axis Data Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
Motion SFC Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Mechanical system program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
CAMs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
Sample program with OS SV22: 2_axes_motion_no_inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.2.1
6.2.2
System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
A
Appendix
A.1
Exterior Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.1.1
A.1.2
A.2
Motion controller Q170MCPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-1
Motion controller Q172DCPU and Q173DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
A.2.1
A.2.2
VIII
Transfer setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
Project opening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
Writing project to the Motion/PLC CPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
Monitoring function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
Device monitoring and testing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
Motion CPU change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
QD-Motion controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
What is motion control?
1
Introduction
Introduction
This english document is the original instruction.
This start-up guidance is intended for those who use the Q170MCPU standalone motion controller
and QD-Motion controller for the first time. How to use programming tool MT Works2 for motion CPU
and programming tool GX (IEC) Developer for sequencer CPU will be explained.
Refer to our QD-Motion controller/Q170MCPU manuals for further information.
(For manual numbers see preamble of this quick start guide.)
1.1
What is motion control?
A Motion control system comes from the combination of a Motion CPU and a PLC CPU.
While the Motion CPU controls complex servo movements by synchronizing the connected servo axes, the PLC CPU is responsible for machine's general control and communication.
With a motion control system you are able to solve different positioning applications from positioning with one axis in small production lines up to multi-axis positioning in large-scale systems.
The Motion CPU controls different more or less complex motion sequences via the connected servo
amplifiers and motors.
Typical applications of a motion control systems are:
● Plastics and textile processing,
● Packaging,
● Printing and paper converting,
● Forming,
● Wood and glass working,
● Production of semiconductors.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
1-1
Introduction
1.1.1
What is motion control?
Block diagram of a motion control system
The following diagram shows the components of a motion control system with CPUs, modules, servo
amplifiers and motors.
Motion controller
PLC CPU area (CPU No.1 fixed)
Power supply
PLC control
processor
Motion CPU area (CPU No.2 fixed)
Device
memory
Multiple CPU
high speed
transmission
memory
Multiple
CPU high
speed bus
Device
memory
Motion control
processor
Multiple CPU
high speed
transmission
memory
Q series PLC system bus
PLC I/O module
(DI/O)
24 V DC
Personal computer
GX (IEC) Developer
MT Developer2
PLC intelligent
function module
(A/D, D/A, Network etc.)
Motion module
(Proximity dog signal, manual
pulse generator input)
Forced stop input (24 V DC)
Manual pulse generator/Incremental
synchronous encoder 1 module
SSCNET III
P
Servo
amplifier
Input signal/Mark detection input signal (4 points)
Output signal (2 points)
PERIPHERAL I/F)
Personal computer
MT Developer2
Fig. 1-1:
M
M
Servomotor
Servo external
input signals
(FLS, RLS, DOG)
Block diagram of a motion control system
All of Mitsubishi motion controllers exploit the potentiality of the proprietary high-speed motion
network SSCNET III.
A Multiple CPU system is a system in which between the PLC CPU area and Motion CPU area are connected with the Multiple CPU high speed bus in order to control the I/O modules and intelligent function modules. PLC CPU area is fixed as CPU No. 1, and Motion CPU area is fixed as CPU No. 2. The Motion
CPU area controls the servo amplifiers connected by SSCNET III cable.
The Multiple CPU high speed transmission memory between the PLC CPU area and Motion CPU area
can communicate at a rate of 0.88 ms.
1.1.2
Difference between Q170MCPU and QD Motion controllers
With the motion controller Q170MCPU, the functionality of the PLC CPU and the Motion CPU is integrated in one compact housing. That means, compared to the modules Q172DCPU and Q173DCPU,
there is no need of an additional PLC and base unit for the configuration of a motion system.
Synchronous encoder interface is included as standard, enabling multiple axes synchronization with
an external encoder.
Applications as labelling, packaging and material handling do not require any other optional module.
1-2
Specification
Introduction
1.2
Specification
1.2.1
Q170MCPU
Item
Specification
Power Supply
24 V DC +/-10 %, ripple ratio 5 % or less
Mass [kg]
0.9
Dimensions [mm]
178 (H) x 52 (W) x 135 (D)
Digital Inputs (Mark detection)
4
Digital Outputs
2
Synchronous Encoder
앫 A/B-phase pulse train
앫 Open-collector-type:
앫 Differential-type:
Peripheral Interface
100/10 Mbps Ethernet, USB, RS-232
Connectable servo amplifier
MR-J3-첸B servo amplifiers over SSCNET III
(Rotational, Linear and Fully closed loop compatible)
Compatible extension base unit
Q52B/Q55B
Compatible motion modules
Q172DLX/Q172DEX/Q173DPX
Memory back up
Q6BAT (included with Q170MCPU)
Tab. 1-1:
up to 800 kpps, up to 10 m
up to 1 Mpps, up to 30 m
Q170MCPU General specifications
Item
Specification
Number of controlled axes
Up to 16
Operation Cycle - SV13 OS
(SW8DNC-SV13QG)
0.44 ms/1 to 6 axes
0.88 ms/7 to 16 axes
Operation Cycle - SV22 OS
(SW8DNC-SV22QF)
0.44 ms/1 to 4 axes
0.88 ms/5 to 12 axes
1.77 ms/13 to 16 axes
Interpolation functions
Linear interpolation (up to 4 axes), Circular interpolation (2 axes),
Helical interpolation (3 axes)
Control modes
PTP (Point to Point) control, Speed control, Speed-position control, Fixed- pitch
feed, Constant speed control, Position follow-up control, Speed control with
fixed position stop, Speed switching control, High-speed oscillation control,
Synchronous control (SV22)
CAM function
앫
앫
앫
앫
Programming language
Motion SFC, Dedicated instruction, Mechanical support language (SV22)
Tab. 1-2:
Up to 256 CAM profiles can be stored internally
Resolution per cycle 256, 512, 1 024 or 2 048 points
Stroke resolution 32 767
Two-way CAM and Feed CAM
Q170MCPU Motion Control specifications
Item
Specification
Processing speed (sequence instruction)
LD instruction:
MOV instruction:
Program capacity
20k steps (80 kbyte)
Programming language
Ladder, IL, SFC, ST, MELSAP-L
(IEC61131-3 programming compatible)
Tab. 1-3:
0.02 μs
0.04 μs
Q170MCPU PLC control specifications
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
1-3
Introduction
1.2.2
Specification
Q172DCPU, Q173DCPU
Item
Q172DCPU
Q173DCPU
Internal current
consumption (5 V DC) [A]
1.14
1.25
Mass [kg]
0.33
Dimensions [mm]
98 (H) x 27.4 (W) x 119.3 (D)
Compatible motion
modules
Q172DLX/Q172DEX/Q173DPX
Connectible Servo
amplifiers
MR-J3-B쏔 Servo amplifiers over SSCNET III
(Rotational, Linear and fully closed loop compatible)
Tab. 1-4:
Q172DCPU/Q173DCPU general specifications
Item
Q172DCPU
Q173DCPU
Number of control axes
Up to 8 axes
Up to 32 axes
SV13
0.44 ms/1 to 6 axes
0.88 ms/7 to 8 axis
0.44 ms/1 to 6 axes
0.88 ms/7 to 18 axis
1.77 ms/19 to 32 axes
SV22
0.44 ms/1 to 4 axes
0.88 ms/5 to 8 axis
0.44 ms/1 to 4 axes
0.88 ms/5 to 12 axis
1.77 ms/13 to 28 axes
3.55 ms/29 to 32 axes
Operation cycle
(default)
Interpolation functions
Linear interpolation (up to 4 axes), Circular interpolation (2 axes),
Helical interpolation (3 axes)
Control modes
PTP (Point to Point) control, Speed control, Speed-position control, Fixed- pitch feed, Constant speed control, Position follow-up control, Speed control with fixed position stop,
Speed switching control, High-speed oscillation control, Synchronous control (SV22)
Acceleration/
Deceleration control
Automatic trapezoidal acceleration/deceleration
S-curve acceleration/deceleration
Compensation
Backlash compensation, Electronic gear, Phase compensation (SV22)
Programming language
Motion SFC, Dedicated instruction, Mechanical support language (SV22)
Servo program capacity
14k steps
Number of positioning
points
3 200 points
(Positioning data can be designated directly)
Peripheral IF
Via PLC CPU (USB/RS-232)
Home position return
function
Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type,
Stopper type (2 types), Limit switch combined type
(Home position return retry function provided, home position shift function provided)
Tab. 1-5:
1-4
Q172DCPU/Q173DCPU Motion control specifications
Terminology
1.3
Introduction
Terminology
The terms and abbreviations below are important for motion controllers and are used frequently in
this guide.
Direction of rotation of electric motors
The direction (or sense) of rotation of electric motors is defined looking at the end of the motor shaft.
Direction of rotation is described as:
● Clockwise/Reverse
or
● Counterclockwise/Forward
Motor
Fig. 1-2:
Direction of rotation
Forward rotation (CCW)
Reverse rotation (CW)
Abbreviations
– FLS
Upper stroke limit
– RLS
Lower stroke limit
– STOP
Stop signal
– DOG
Proximity dog
– EMI
Emergency signal input
– CW
Clockwise
– CCW
Counterclockwise
– SSCNET III
Optical bus system for data communication
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
1-5
Introduction
1-6
Terminology
Q170MCPU
Details of the modules
2
Details of the modules
2.1
Q170MCPU
2.1.1
Frontview and partnames
With front cover open and
battery holder removed
Front view
쐃
쐅
쐃
쐅
씋
쐇
쐋
쐈
쐏
쐉
씍
쐄
씈
쐂
씉
쐆
쐊
씊
씌
쐎
Bottom view
씎
쐎
Fig. 2-1:
Q170MCPU
No.
Name
Application
쐃
7-segment LED
Displays operation status and error information.
쐇
POWER LED
ON (Red):
OFF:
The internal power (5 V DC) is ON.
The internal power (5 V DC) is OFF.
쐋
RUN/STOP/RESET
switch
RUN:
STOP:
RESET:
Sequence-/Motion SFC program started
Sequence-/Motion SFC program stopped
Reset of the hardware (momentary switch, set minimum for 1 sec)
쐏
PERIPHERAL I/F
connector
For Ethernet-communication with peripheral devices.
Data transmission speed: 10 Mbps/100 Mbps
쐄
SSCNET III connector
CN1
Connector to connect the servo amplifiers via optical bus cable.
쐂
EXT. IO connector
Connector for manual pulse generator/incremental synchronous encoder/digital I/O
signals. (Voltage-output/open-collector type, Differential-output type)
Tab. 2-1:
Description of the partnames in fig. 2-1.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
2-1
Details of the modules
Q170MCPU
No.
Name
Application
쐆
24VDC connector
Connector for 24 V DC power supply
쐊
Serial number
Shows the serial number, printed on the rating plate
쐎
Battery holder
Battery holder to set the Q6BAT/Q7BAT
쐅
2-2
Displays the mode of the PLC CPU
ON (green):
Q mode
RUN
Diplays the operating status of the PLC CPU
ON:
The operating status is ”RUN”
OFF:
The operating status was set to ”STOP” or operation has been halted due
to an error.
Flashing:
Failure during writing of parameters or programs
ERR.
Diplays the operating status of the PLC CPU
ON:
Detection of an error during self-diagnosis
OFF:
Normal operation
Flashing:
The detected error stops operation.
(Resetting with the RUN/STOP/RESET switch becomes valid.)
USER
Diplays the operating status of the PLC CPU
ON:
Annunciator turned ON
OFF:
Normal operation
BAT.
Diplays the operating status of the PLC CPU
ON (yellow):
Low battery voltage at memory card
ON (green for 5 sec): Restoring of data backup to the standard ROM by the latch data
backup is completed
ON (green):
Backup of data to the standard ROM by latch data backup is
completed
OFF:
Normal operation
BOOT
Diplays the operating status of the PLC CPU
ON:
Start of boot operation
OFF:
No boot operation
Status LED
쐈
USB connector
Connector to connect the peripheral devices for USB connection
(Connector type mini B)
쐉
Forced stop input
connector (EMI)
Input to stop all axis at once
Open:
Forced stop (EMI ON)
24 V DC:
Forced stop release (EMI OFF)
씈
Eject button for
memory card
Used to eject the memory card from the Motion controller
씉
Memory card loading
connector
Connector used to load the memory card to the Motion controller
씊
—
Not usable
씋
Rotary switch SW1, SW2
앫 Setting of the operation mode
(Normal operation mode, Installation mode, Mode operated by ROM, etc.)
앫 Each switch setting is from 0 to F
(Factory default setting: SW1: A, SW2: 0)
씌
FG terminal
Frame ground:
Ground terminal connected with the shield pattern of the printed circuit board
씍
RS-232 connector
Connector to connect the peripheral devices for RS-232 connection
(Connect with the dedicated cable QC30R2)
씎
Extension cable
connector
Connector for transfer of signals to/from the extension base unit
Tab. 2-1:
NOTE
MODE
Description of the partnames in fig. 2-1.
For more details of the partnames and status LEDs please refer to the user’s manual of the motion
controller Q170MCPU.
Q170MCPU
2.1.2
Details of the modules
System configuration
Motion controller
Q170MCPU
USB/RS-232
PERIPHERAL I/F
Personal computer
IBM PC/AT
Panel personal computer
SSCNET III cable
(MR-J3BUS첸M(-A/-B))
Forced stop input cable
(Q170DEMICBL첸M)
d01
SSCNET III
d02
d03
d16
24 V DC
EMI forced stop input (24 V DC)
P
M
M
M
M
E
E
E
E
Manual pulse generator/ Incremental synchronous encoder
x 1/module
앫 Input signal/Mark detection input signal
(4 points)
앫 Output signal (2 points)
Servo external
signals
interface module
External input signals of servo amplifier
앫 Proximity dog
앫 Upper stroke limit
앫 Lower stroke limit
PLC CPU area
control module
Manual pulse
generator
interface module
Motion CPU area
control module
Extension
cable
(QC첸B)
Servo amplifier model MR-J3-첸B,
up to 16 axes
Q172DLX Q173DPX
QX
/
QY
I/O module/
Intelligent
function module
(Up to 512points)
GOT
Extension base unit
(Q52B/Q55B)
Up to 1 extension
Input/output (Up to 256 points)
P
Manual pulse generator/Incremental synchronous encoder x 3/module
(MR-HDP01)
External input signals
앫
앫
앫
앫
Fig. 2-2:
FLS:
Upper stroke limit
RLS:
Lower stroke limit
STOP:
Stop signal
DOG/CHANGE: Proximity dog/
Speed-position switching
Number of inputs
8 axes/module
System configuration
GX (IEC) Developer and MT Works2 can be used simultaneously on one personal computer.
Interrupt module (QI60) and analog I/O module (Q6쏔AD/Q6쏔DA) can also be used as the
Motion CPU area control module.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
2-3
Details of the modules
2.1.3
Q170MCPU
Minimum equipment
Product
Details
Controller
Standalone motion controller, 16 axes, SSCNETIII
Q170MCPU
Software
MT Developer2-E
Programming software for Q-/QH-/QD-/Q170MCPU motion
controller (Windows 2000/XP/Vista)
MT Developer OS Systems
Operating systems for Q-/QH-/QD-/Q170MCPU motion controller
MR Configurator (Setup221)
Servo setup software
MR Configurator
GX (IEC) Developer
PLC programming software
GX Developer
Tab. 2-2:
2-4
Minimum equipment for Q170MCPU
24V connector, DI/O connector, SRAM backup battery, EMI connector included
Q172DCPU/Q173DCPU
Details of the modules
2.2
Q172DCPU/Q173DCPU
2.2.1
Frontview and partnames
Q172DCPU Front view
Q173DCPU Front view
Q172DCPU
Q173DCPU
쐃
STOP RUN
789
쐏
쐄
쐄
CN1
쐂
CN2
CN1
SW
2
CAUTION
EMI
쐏
FRONT
BAT
쐆
F0 1
D
ABC E
D
ABC E
789
D
ABC E
D
ABC E
쐋
789
CAUTION
EMI
F 01
1
789
STOP RUN
쐇
23456
SW
2
23456
F0 1
23456
쐋
F0 1
1
23456
쐇
쐃
FRONT
BAT
쐆
Q172DCPU-/Q173DCPU Bottom view
쐊
Fig. 2-3:
No.
Name
Application
쐃
7-segment LED
Displays operation status and error information
쐇
Rotary switch SW1, SW2
앫 Setting of the operation mode
(Normal operation mode, Installation mode, Mode operated by ROM, etc.)
앫 Each switch setting is from 0 to F
(Factory default setting: SW1: A, SW2: 0)
쐋
RUN/STOP switch
RUN:
Motion SFC program started
STOP:
Motion SFC program stopped
(Factory default setting is STOP)
쐏
Forced stop input
connector (EMI)
Input to stop all axis at once
Open:
Forced stop (EMI ON)
24 V DC:
Forced stop release (EMI OFF)
쐄
SSCNET III connector
CN1
Connector to connect the servo amplifiers of system 1 (channel 1) via optical bus cable
(Q172DCPU: up to 8 axes; Q173DCPU: up to 16 axes)
쐂
SSCNET III connector
CN2햲
Connector to connect the servo amplifiers of system 2 (channel 2) via optical bus cable
(up to 16 axes)
쐆
Module loading lever
Used to install the module on the base unit
쐊
Battery connector (BAT) Connector to connect the battery holder unit Q170DBATC
Tab. 2-3:
햲
NOTE
Q172DCPU, Q173DCPU
Description of the partnames in fig. 2-3.
Q173DCPU only
For more details of the partnames please refer to the user’s manual of the motion controllers
Q172DCPU and Q173DCPU.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
2-5
Details of the modules
2.2.2
Q172DCPU/Q173DCPU
System configuration
Main base unit
(Q3첸DB)
Q61P
Q172D
QnUD(H) CPU/
Q173D
CPU
CPU
QI60
Manual pulse
generator
interface module
PLC CPU/
Motion CPU
Synchronous
encoder
interface module
Servo external
signals
interface module
Motion CPU control module
Q6 AD Q172D Q172D Q173D
LX
EX
PX
Q6 DA
QX
QY
I/O module
Intelligent function module
100/200 V AC
P
Manual pulse generator x 3/module
(MR-HDP01) (Up to 1 module)
Serial absolute synchronous encoder cable
(Q170ENCCBL첸M)
USB/RS-232
E
Serial absolute synchronous encoder x 2/module
(Q170ENC) (Up to 6 modules)
External input signals
앫
앫
앫
앫
Battery holder unit
(Q170DBATC)
Number of inputs
FLS:
Upper stroke limit
RLS:
Lower stroke limit
STOP:
Stop signal
DOG/CHANGE: Proximity dog/
Speed-position switching
Analog input/output
Input/output (Up to 256 points)
Interrupt signals (16 points)
Forced stop input cable
(Q170DEMICBL첸M)
Extension
cable
(QC첸B)
Power supply
module
Extension base unit
(Q6첸B)
EMI forced stop input (24 V DC)
SSCNET III cable
(MR-J3BUS첸M(-A/-B))
Up to 7 extensions
M
E
d3
d2
d1
SSCNET III (CN1)
M
E
M
E
d8
M
E
Servo amplifier model MR-J3-첸B,
up to 8 axes (Q172DCPU)/
up to 32 axes (Q173DCPU)
External input signals of servo amplifier
앫 Proximity dog
앫 Upper stroke limit
앫 Lower stroke limit
Fig. 2-4:
2-6
System configuration
8 axes/module
(Up to 4 modules)
Q172DCPU/Q173DCPU
2.2.3
Details of the modules
Minimum equipment
Product
Details
Controller
Q38DB
8 slot base unit
Q61P or similar
Power supply module
Input: 100–240 V AC
Output: 5 V DC/6 A
QnUD(E)(H)CPU
PLC CPU Module; 4096 I/O
Q172DCPU/
Q173DCPU
Motion controller CPU module, 8/32 axes, SSCNET III
Software
MT Developer2-E
Programming software for Q-/QH-/QD-/Q170MCPU motion
controller (Windows 2000/XP/Vista)
MT Developer OS Systems
Operating systems for Q-/QH-/QD-/Q170MCPU motion controller
MR Configurator (Setup221)
Servo setup software
MR Configurator
GX (IEC) Developer
PLC programming software
GX Developer
Tab. 2-4:
Minimum equipment for Q172DCPU/Q173DCPU
EMI connector/cable is sold separately. The Forced stop input cannot be invalidated by internal
parameter.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
2-7
Details of the modules
2-8
Q172DCPU/Q173DCPU
Module mounting into cabinet
Mounting and wiring
3
Mounting and wiring
3.1
Module mounting into cabinet
3.1.1
Mounting of Q170MCPU
Keep the clearances shown below between the top/bottom faces of the module and other structures
or parts to ensure good ventilation and facilitate module replacement.
Top of panel or wiring duct
욷40 mm
욷100 mm
Motion
controller
Door
Servo amplifier
Panel
135 mm
욷90 mm
욷30 mm
욷30 mm
욷10 mm
Fig. 3-1:
Module mounting position
Fit the Motion controller at the left side of the servo amplifier.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
3-1
Mounting and wiring
Module mounting into cabinet
Mounting method for the motion controller
b
WARNING:
Completely turn off the externally supplied power used in the system before installation or
removing the module. Not doing so could result in electric shock or damage to the product.
Fit the holes for the bottom mounting
screws of the Motion controller into the
panel.
Place the bottom side notch of the Motion
controller onto the bottom side screw.
Fit the mounting screws into the holes at the
top of the Motion controller and then
retighten the all mounting screws using the
allowed torque.
3-2
Module mounting into cabinet
3.1.2
Mounting and wiring
Mounting of Q172DCPU/Q173DCPU
Keep the clearances shown below between the top/bottom faces of the module and other structures
or parts to ensure good ventilation and facilitate module replacement.
Top of panel or wiring duct
Base unit
Motion CPU module
Q03DCPU
MODE
RUN
ERR.
USER
BAT.
BOOT
QX40
01 2 3 4 5 6 7
89 AB CDE F
QX40
0 1 2 3 45 6 7
8 9 A B CDE F
Q172DEX
SY. ENC TREN
1
1
2
2
욷40 mm
Motion CPU module
Q173DPX
PLS.A PLS. B TREN
1
1
1
2
2
2
3
3
3
SY. ENC1
욷100 mm
USB
Panel
RS-232
Q172DEX
Door
PULSER
PULL
Q173DPX
123.5 mm
욷100 mm
욷5 mm
Fig. 3-2:
욷5 mm
Module mounting position
NOTE
욷20 mm when the adjacent module is not removed and the extension cable is connected.
It is not possible to mount the main base unit by DIN rail.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
3-3
Mounting and wiring
Module mounting into cabinet
Installation of the module on Q3첸B and Q6첸B
b
WARNING:
● Completely turn off the externally supplied power used in the system before installing the
module. Not doing so could result in electric shock or damage to the product.
● When installing the module, always insert the module fixing projection into the module
fixing hole of the base unit. If the module is forcibly installed without the latch being inserted,
the module connector and module will be damaged.
Securely insert the module fixing protection into the module fixing hole so that the latch is not
misaligned.
Using the module fixing hole as a fulcrum, push the module in the direction of arrow to install it
into the base unit.
Make sure that the module is installed in the base unit securely.
When using module in a place where there is large vibration or impact, install it by the unit fixing
screws (M3 x 12).
Base unit
Base unit
Module
Module
connector
Module fixing
hole
Module fixing
hook
Module fixing
hook
Module loading lever
Fig. 3-3:
3-4
Installation of the module
Module mounting into cabinet
Mounting and wiring
Removal of the module from Q3첸B and Q6첸B
b
WARNING:
● Completely turn off the externally supplied power used in the system before removing the
module. Not doing so could result in electric shock or damage to the product.
● When the module fixing screw is used, always remove the module by removing the module
fixing screw and then taking the module fixing latch off the module fixing hole of the base
unit. Attempting to remove the module by force may damage the module fixing latch.
Base unit
Module
Module
connector
Support the module with both hands and securely press the module fixing hook with your
finger.
Pull the module based on the supporting point
of module bottom while pressing the module
fixing hook.
While lifting a module, take off the module fixing
projection from the module fixing hole.
Fig. 3-4:
Removal of the module
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
3-5
Mounting and wiring
Wiring
3.2
Wiring
3.2.1
Wiring for Q170MCPU
Power supply and EMI
Connector layout
1A
1B
2A
2B
Tab. 3-1:
Pin No.
Signal name
Pin No.
Signal name
1A
24V(+)
1B
24V(+)
2A
24G
2B
24G
Power supply 24 V
Q170MCPU side
2A 2B
Solderless terminal
1A 1B
1827587-2 (Terminal)
1-1827864-2 (Connector)
24V(+)
24G
24V(+)
24G
Fig. 3-5:
1B
2B
1A
2A
Solderless terminal size: R1.25-3.5
24V(+)
24G
: Twisted pair cable
24 V DC power supply cable without EMI connector
Q170MCPU side
2A 2B
Solderless terminal
1A 1B
2
1
1827587-2 (Terminal)
1-1827864-2 (Connector)
24V(+)
24G
24V(+)
24G
EMI.COM
EMI
1B
2B
1A
2A
Solderless terminal size: R1.25-3.5
24V(+)
24G
: Twisted pair cable
2
1
5556PBTL (Terminal)
5557-02R-210 (Connector)
Fig. 3-6:
3-6
24 V DC power supply cable with EMI connector
Use "1A" and "2A" when the 24 V DC voltage is applied on EMI terminal and the forced stop input
of EMI terminal is invalidated.
Use a cable of wire size AWG22.
Wiring
Mounting and wiring
Q170MCPU side
Solderless terminal
2
1
5556TL (Terminal)
5557-02R (Connector)
Solderless terminal size: R1.25-3.5
EMI.COM
EMI
EMI.COM
EMI
: Twisted pair cable햲
Q170MCPU
햳
Fig. 3-7:
Forced stop input cable for EMI
햲
Use a cable of wire size AWG22.
햳
Tab
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
3-7
Mounting and wiring
Wiring
Digital I/O
Cable
Q170MCPU side
25
50
1
26
Solderless terminal
Connection diagram
HDR-E50MSG1+ (Connector)
HDR-E50LPH (Connector case)
HBL
HBH
HAL
HAH
HB
25
24
23
22
21
HA
20
SG
5V
SG
5V
SEL
SG
48
46
47
45
49
50
DO1
COM2
DO2
COM2
6
7
31
32
DO1
DI1
COM1
DI3
3
5
4
DI1
DI2
COM1
DI4
DICOM
FG
28
30
29
DI2
HBL
HBH
HAL
HAH
5VGND
5V
DO2
DOCOM
DI4
DICOM
Shell
Shell
FG
3-8
Output signal side
DI3
: Twisted pair cable
Tab. 3-2:
Differential-output type
Manual pulse generator/
incremental synchronous
encoder side
Differential-output type cable for internal I/F connector
The maximum length of the cable should be 30 m.
Connect SEL to the SG terminal if differential-output type is used.
Input signal/mark detection
input side
Wiring
Mounting and wiring
Cable
Q170MCPU side
25
50
1
26
Solderless terminal
Connection diagram
HDR-E50MSG1+ (Connector)
HDR-E50LPH (Connector case)
HBL
HBH
HAL
HAH
HB
25
24
23
22
21
HB
HA
20
HA
SG
5V
SG
5V
SEL
SG
48
46
47
45
49
50
5VGND
5V
DO1
COM2
DO2
COM2
6
7
31
32
DI1
COM1
DI3
3
5
4
DI1
DI2
COM1
DI4
DICOM
FG
28
30
29
DI2
Voltage-output/opencollector type
Manual pulse generator/
incremental synchronous
encoder side
DO1
DO2
DOCOM
Output signal side
DI3
Input signal/mark detection
input side
DI4
DICOM
Shell
Shell
FG
: Twisted pair cable
Tab. 3-3:
Voltage-output/open-collector type cable for internal I/F connector
The maximum length of the cable should be 10 m.
When voltage-output/open-collector type is used, open between SEL and SG.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
3-9
Mounting and wiring
3.2.2
Wiring
Wiring for QD Motion controller
Power supply and EMI
Power supply module
ERR
FG
LG
INPUT
100–240 V AC
AC
Ground
wire
Grounding
Fig. 3-8:
Power supply module for QD motion controller (example with Q62P)
Terminal(s)
Function
FG
Ground terminal connected to the shield pattern of the printed circuit board.
LG
Grounding for the power supply filter. The potential of Q61P-A1, Q61P-A2, Q61P, Q62P, Q64P and Q61SP is
half of the input voltage.
The following functions of the ERR termials are only availible, when the power supply module is mounted on a main base
unit. When mounted on an extension base unit the terminals are always OFF (open).
ERR
Tab. 3-4:
앫 The terminals are ON (connected) when the whole system operates normally.
앫 The terminals turn OFF (open) when the AC power is not input, a stop error (including a reset) occurs in
the CPU module or the fuse is blown.
앫 In a multiple CPU system configuration the terminals turn OFF (open) when a stop error occurs in any of
the CPU modules.
Explanation of the terminals in fig. 3-8
Q170MCPU side
Solderless terminal
2
1
5556TL (Terminal)
5557-02R (Connector)
Solderless terminal size: R1.25-3.5
EMI.COM
EMI
EMI.COM
EMI
: Twisted pair cable
햲
Motion CPU module
Removal
햳
Fig. 3-9:
햲
3 - 10
Forced stop input cable for EMI
Use a cable of wire size AWG22.
햲
SSCNET III connection
Mounting and wiring
3.3
SSCNET III connection
3.3.1
SSCNET III cable
The cables in the following table are applicable for the connection between the Q170MCPU/QD-Motion controllers and the servo amplifier MR-J3-첸B and between the servo amplifiers MR-J3-첸B.
Symbol for cable length (첸)
Cable
0,3 m
0,5 m
1m
3m
5m
10 m
20 m
30 m
40 m
50 m
MR-J3BUS첸M
015
03
05
1
3
—
—
—
—
—
—
MR-J3BUS첸M-A
—
—
—
—
—
5
10
20
—
—
—
MR-J3BUS첸M-B
—
—
—
—
—
—
—
—
30
40
50
Tab. 3-5:
3.3.2
0,15 m
SSCNET III cable identification
Connection between the Q170MCPU and servo amplifiers
Q170MCPU
CN1
햲
CN1A
CN1A
햲
CN1B
Servo amplifier
Cap햳
CN1B
Servo amplifier
Fig. 3-10: SSCNET III connection method with Q170MCPU
햲
햳
NOTE
Chose the right SSCNET III cable type in tab. 3-5 depending on the cable length for your system
configuration.
Attach a cap to the SSCNET III connectors of the system not being used.
If the connectors CN1A und CN1B are mixed up at the servo amplifiers, no communication is possible.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
3 - 11
Mounting and wiring
3.3.3
SSCNET III connection
Connection between the Q172DCPU and servo amplifiers
Q172DCPU Motion CPU module
CN1
햲
CN1A
CN1A
햲
CN1B
Servo amplifier
Cap햳
CN1B
Servo amplifier
Fig. 3-11: SSCNET III connection method with Q172DCPU
햲
햳
NOTE
3 - 12
Chose the right SSCNET III cable type in tab. 3-5 depending on the cable length for your system
configuration.
Attach a cap to the SSCNET III connectors of the system not being used.
If the connectors CN1A und CN1B are mixed up at the servo amplifiers, no communication is possible.
SSCNET III connection
3.3.4
Mounting and wiring
Connection between the Q173DCPU and servo amplifiers
Q173DCPU Motion CPU module
CN1
CN2
Cap햳
SSCNET III Channel 1
햲
CN1A
CN1A
햲
Cap햳
CN1B
CN1B
Servo amplifier
Servo amplifier
SSCNET III Channel 2
햲
CN1A
CN1A
햲
CN1B
Servo amplifier
Cap햳
CN1B
Servo amplifier
Fig. 3-12: SSCNET III connection method with Q173DCPU
햲
햳
NOTE
Chose the right SSCNET III cable type in tab. 3-5 depending on the cable length for your system
configuration.
Attach a cap to the SSCNET III connectors of the system not being used.
If the connectors CN1A und CN1B are mixed up at the servo amplifiers, no communication is possible.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
3 - 13
Mounting and wiring
3.3.5
SSCNET III connection
Setting the axis No. and axis select switch of servo amplifier
Axis No. is used to set the axis number of servo amplifiers connected to SSCNET III motion bus in the
program. Axis No. of 1 to 16 can be set.
Axis No. is set in the system setting of MT Developer2. Axis No. (1 to 16) is allocated and set for the setting axis number (d01 to d16) of servo amplifier.
Since the axis number (d01 to d16) of servo amplifier on the system setting screen corresponds to axis
select rotary switch (0 to F) of servo amplifier, set the axis select rotary switch referring to the table below (Tab. 3-6).
B C DE
2
7 8 9
A
3 4 5 6
Axis select switch
F 0 1
Setting display of axis No.
(Servo amplifier)
Set the axis No. relative to axis number (dno.).
Fig. 3-13: Setting the axis No.
dno.
3 - 14
Axis select
rotary switch of
servo amplifier
dno.
SSCNET III
channel
Axis select
rotary switch of
servo amplifier
d01
1
"0"
d09
1
"8"
d02
1
"1"
d10
1
"9"
d03
1
"2"
d11
1
"A"
d04
1
"3"
d12
1
"B"
d05
1
"4"
d13
1
"C"
d06
1
"5"
d14
1
"D"
d07
1
"6"
d15
1
"E"
d08
1
"7"
d16
1
"F"
Tab. 3-6:
NOTE
SSCNET III
channel
Correspondence between dno.s and axis select switches of servo amplifier
The dno. represents the station number, which is set by the rotary switch at the servo amplifier.
Start-up and trial operation
4
m
Start-up and trial operation
DANGER:
● Be sure to ground the Motion controllers, servo amplifiers and servomotors (Ground
resistance: 100 Ω or less). Do not ground commonly with other devices.
● Never open the front case or terminal cover at times other than wiring work or periodic
inspections even if the power is OFF. The insides of the Motion controller and servo amplifier
are charged and may lead to electric shocks.
● When performing wiring work or inspections, turn the power OFF, wait at least ten minutes,
and then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.
● Wire the units after mounting the Motion controller, servo amplifier and servomotor. Failing
to do so may lead to electric shocks or damage.
b
WARNING:
● Check that the combination of modules are correct. Wrong combination may damage the
modules.
● When using a regenerative resistor, shut the power OFF with an error signal. The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor, etc. and
may lead to fires.
● Always take heat measure such as flame proofing for the inside of the control panel where
the servo amplifier or regenerative resistor is mounted and for the wires used. Failing to do
so may lead to fires.
● Do not mount a phase advancing capacitor, surge absorber or radio noise filter (option
FR-BIF) on the output side of the servo amplifier.
● Correctly connect the output side (terminal U, V, W). Incorrect connections will lead the servo
motor to operate abnormally.
● Set parameter values to those that are compatible with the Motion controller, servo amplifier, servo motor and regenerative resistor model name and the system name application.
The protective functions may not function if the settings are incorrect.
● Always mount a leakage breaker on the Motion controller and servo amplifier power source.
● Install emergency stop circuit externally so that operation can be stopped immediately and
the power shut off.
● Use the program commands for the program with the conditions specified in the instruction
manual.
● Some devices used in the program have fixed applications, so use these with the conditions
specified in the programming manual.
● If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion
controller, servo amplifier and servo motor, make sure that the safety standards are satisfied.
● Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive
operation in the system.
● The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
● Execute the test operation in the system that it is low-speed as much as possible and put
forced stop and confirm the operation and safety.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
4-1
Start-up and trial operation
4.1
Start-up procedure
Start-up procedure
START
[Parameter setting]
Turn OFF Motion controller's power supply
Check that the power supply of Motion
controller is OFF.
PLC CPU
area
Parameter setting
Set the PLC parameter using GX (IEC)
Developer.
Turn ON power supply again
Check wiring and module installation
앫 Check the installation position and
condition of each module.
앫 Check the connecting condition of
connectors.
앫 Check that all terminal screws are tight.
앫 Check the ground wires of servo
amplifier, etc.
앫 Check the servo motor wiring (U, V, W).
앫 Check the regenerative option wiring.
앫 Check the circuit of emergency stop or
forced stop.
Turn ON again the power supply or reset of
Motion controller.
Check external inputs to Q172DLX
Check the wiring of following external inputs
by monitoring of MT Developer2.
앫 FLS (Upper stroke limit input)
앫 RLS (Lower stroke limit input)
앫 STOP (Stop signal)
Check external inputs to Q173DPX
Check the wiring of following external inputs
by monitoring of MT Developer2 or LED
indicators.
[Installation mode]
Install operating system software
Motion CPU
area
Install the operating system software to the
Motion controller using MT Developer2.
Motion CPU
area
앫 Manual pulse generator/incremental
synchronous encoder setting
Check I/O module
Servo amplifier setting
Servo
amplifier
Set the axis number of servo amplifier.
Check the wiring of I/O modules.
[Servo data setting]
Positioning parameters setting
Turn ON power supply
Set the RUN/STOP/RESET switch of Motion
controller to STOP, and turn ON the Motion
controller's power supply.
[System setting]
Parameters setting
Set the following positioning parameters
using MT Developer2.
Motion CPU
area
앫 Multiple CPU setting
앫 Automatic refresh setting
앫 System setting
Set the following positioning parameters
using MT Developer2.
앫
앫
앫
앫
앫
앫
Fixed parameters
Home position return data
JOG operation data
Servo parameters
Parameter block
Limit output data
Fig. 4-1:
Start-up procedure (1)
NOTE
4-2
The mode indicated in the brackets [ ] at top left of each step is the mode for checking or setting
using MT Developer2/GX (IEC) Developer.
The operating system software is not installed at the time of Motion CPU module purchase.
Be sure to install the operating system software to be used before a system start.
An error may occur if the power is turned on before system setting. In the case, reset the Multiple
CPU system after system setting. Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)" at the system setting error occurrence.
Start-up procedure
Start-up and trial operation
[Test mode •
JOG operation]
[Programming]
Create Motion programs
Motion CPU
area
Check machine operation
Create the Motion programs using
MT Developer2.
Check the followings by making the machine
operate with the JOG operation of MT
Developer2.
[Programming]
앫 Machine operates correctly
(no vibration, hunting, etc.)
앫 Stroke limits operate correctly
앫 Machine stops by the emergency stop or
forced stop
Create PLC programs
Create the PLC programs to start the Motion
programs using GX (IEC) Developer.
PLC CPU
area
Write PLC programs
Motion CPU
area
Write the PLC programs created to the PLC
CPU area (CPU No.1 fixed).
Check home position return
Check the followings by executing the home
position return.
앫 Home position return direction
앫 Home position return data
앫 Proximity dog position
Write Motion programs
Motion CPU
area
[Test mode •
home position return]
[Programming]
Write the positioning data and Motion
programs created to the Motion CPU area
(CPU No.2 fixed).
Check Motion program
Set the RUN/STOP/RESET switch of Motion
controller to RUN and check that all
positioning controls by Motion programs are
correct.
Turn ON power supply again
Turn ON again or reset the Motion controller's
power supply.
[Monitor]
Check by automatic operation
Turn ON servo amplifiers power supply
Check the emergency stop ON and forced
stop ON, and turn ON the power supply of
servo amplifiers.
PLC CPU
area
Check the sequence operation by executing
the PLC program using an actual external
input.
END
[Test mode •
Servo start-up
(Initial check)]
Check servo amplifier
Check that the mounted servo amplifiers
operate correctly.
Motion CPU
area
[Test mode •
Servo start-up
(Upper/lower
stroke limit check)]
Check upper/lower stroke limits
Check that the upper/lower stroke limits
operate correctly.
Fig. 4-1:
Start-up procedure (2)
NOTE
The mode indicated in the brackets [ ] at top left of each step is the mode for checking or setting
using MT Developer2/GX (IEC) Developer.
Axis No. and error description of servo amplifier which detected errors are displayed on initial
check screen.
An error may occur if the power is turned on before system setting. In the case, reset the Multiple
CPU system after system setting. Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)" at the system setting error occurrence.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
4-3
Start-up and trial operation
Software installation
4.2
Software installation
4.2.1
Programming software
Install all of the software listed in the table below.
Product
Detail
MELSOFT MT Works2 (MT Developer2)
Ver. 1.05F or later
GX Developer2)
Ver. 8.48A or later
MR Configurator (optional)
Ver. C2 or later
Tab. 4-1:
4.2.2
Software
Operating system (OS)
As the OS software is not pre-installed, the first step before using the system is installing it into Motion
CPU.
This section explains the method for displaying the installation screen and install the OS.
Install one of the following OS.
Motion CPU
Q170MCPU
Q172DCPU
Q173DCPU
Tab. 4-2:
4-4
Operating system
Detail
SV13 (SW8DNC-SV13QG)
Conveyor assembly use
SV22 (SW8DNC-SV22QF)
Automatic machinery use
SV13 (SW8DNC-SV13QD)
Conveyor assembly use
SV22 (SW8DNC-SV22QC)
Automatic machinery use
SV13 (SW8DNC-SV13QB)
Conveyor assembly use
SV22 (SW8DNC-SV22QA)
Automatic machinery use
Assignment of operating system to motion controller
Software installation
Start-up and trial operation
Operating system installation
햲 Power off the motion controller.
CD
AB E
햳 Set the rotary switch 1 (on the motion controller) to "A" to set the installation mode.
78 9
CD
AB E
F01
5
23 4 6
5
23 4 6
F01
78 9
Rotary switch 1
햴 Power on the motion CPU. After the power is turned on, the 7-segment LED displays "INS", and
the motion CPU gets into the installation mode.
햵 Select "Start" - "All Programs" - "MELSOFT
Application" - "MT Works2" - "Install".
햶 The installation screen appears.
Select "Online" - "Transfer Setup" to set the
communication setup screen. Further details in the section "Transfer setup" (section
5.2.1) of this quick-start guide.
햷 Click the button Install Motion Controller
OS. When the motion controller OS has already been installed, the version is displayed in addition to the CPU type.
햸 Insert the CD-ROM with the motion controller OS into the CD-ROM drive of the personal computer.
햹 Click the button Browse and specify the
OS's source folder. The CPU type and OS
version appear.
햺 Click the button Execution. The installation
is started.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
4-5
Start-up and trial operation
Software installation
# Once the installation is finished, power off the motion CPU. Set the rotary switch 1 (SW1) to "0"
and the rotary switch 2 (SW2) to "0" to set the motion CPU to the RAM operation mode.
$ Power on the motion CPU. When the power is turned on, "." in the first digit on the 7-segment
LED flashes.
4-6
Sample project creation with MT Developer2 and GX Developer
5
Project creation
Project creation
NOTE
5.1
The sample programs, described in this manual can be downloaded free of charge through the
website www.mitsubishi-automation.com/mymitsubishi/mymitsubishi_content.html.
Sample project creation with MT Developer2 and
GX Developer
New project creation
Start MT Developer2 and create a new project with CPU and OS Type selected as shown below.
After clicking OK in the New Project Window, the MT Developer2 project window will appear, as
shown below.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
5-1
Project creation
Sample project creation with MT Developer2 and GX Developer
System Structure Settings
Double-click the amplifier icon (SSCNET Structure) to confirm the set amplifier type is correct. If
any I/O are wired to the amp, such as home or limit sensors, select the Detail Setting tab and set
the External Signal Input Setting to Amplifier Input Valid.
Servo Data Settings and Parameter Block
In the "MT Developer2 Project Window
Menu", double-click Servo Data to bring
up the "Servo Data" tab.
Edit the settings so that they match the
screenshot shown in the left figure.
– "Travel Value/Rev." should represent how far the load moves for every rotation of the motor.
5-2
Sample project creation with MT Developer2 and GX Developer
Example 왓
Project creation
The ball screw lead is 5 mm and the mechanical gear ratio is 1/5.
Servomotor:
Unit setting:
Number of Pulses/Rev.:
Travel Value/Rev.:
HF-KP43
mm
262 144 [PULSES]
1/5 x 5 000.0 = 1 000.0 [μm]
Fig. 5-1:
Mechanical configuration of the
example
Gear ratio 1 : 5
5 mm
쑶
– "Upper stroke limit" and "Lower stroke limit" enable software stroke limits.
Fig. 5-2:
Stroke limits
Stroke range
(Machine motion range)
Stroke limit
(Lower limit value)
Stroke limit
(Upper limit value)
– "Exec.Sv.Prog." will allow the servo programs to be executed even if the servo motor has not
yet been homed. If "Not Exec.Sv.Prog." is selected and the servo has not been homed, the servo
programs will stop and an error will occur.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
5-3
Project creation
Sample project creation with MT Developer2 and GX Developer
– The Parameter Blocks, accessible by the "Servo Data" menu, serve to make setting changes
easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing.
A maximum of 64 blocks can be set as parameter blocks.
Speed limit value
Speed
Rapid stop cause occurrence
Positioning
speed set in
the servo
program
Time
Real acceleration time
Set acceleration time
Set rapid stop
deceleration
time
Real rapid stop
deceleration time
Real deceleration time
Set deceleration time
Fig. 5-3:
5-4
Time diagram for setting of parameter blocks
Sample project creation with MT Developer2 and GX Developer
Project creation
Servo Parameter Settings
In the "Project Window Menu", double-click Servo Parameter. This will launch the servo setup
software called MR Configurator.
Please change the following parameter in the "Basic setting":
● PA04: 0100
(Disabling the EMG input on servo amplifier. This will allow the amplifier to operate
regardless of forced stop input status.)
● PA14: 0 or 1 according to the motor rotation direction (CW or CCW)
and click OK.
Note
Launching MR Configurator from within MT Developer2 is not the same as launching MR Configurator from the Windows Start Menu. Opening from within MTD2 allows changes to servo
parameters to be saved within the MTD2 project files.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
5-5
Project creation
Sample project creation with MT Developer2 and GX Developer
Motion SFC Program Creation
In the "Project Window Menu" under "Motion SFC Program", double-click Motion SFC Program
Manager. This open the "Motion SFC Program Manager" pop-up window.
Click the icon New which opens up the "New Motion SFC Program" window. Set the Motion SFC
Program No. to "1", enter "1 Axis JOG" as the program name and then click OK.
In the "Project Window Menu" under “Motion SFC Program”, double-click Motion SFC Parameter.
This open the “Motion SFC Parameter” pop-up window.
Double-click program 1 and then change the Start Setting to "Automatic Start".
Then close this window.
5-6
Sample project creation with MT Developer2 and GX Developer
Project creation
Prepare an SFC program. The sample program below allows a simple forward and backward
movement of Axis 1.
Step
Description
5a
Add an F-block, 2 x G-block, 2 x K-block, a Jump, and a Pointer to the program by left-clicking the respective button on the menu bar
and left-clicking in the program workspace. Press the Esc key (or right click) after adding each block to the workspace.
5b
Double-click the F-block, enter "0" for the program number. Next, press Enter or click the Edit button. In the Program Editor window,
type "SET M2402". The common system device M2402 enables "Servo On" for all axes when set.
5c
Double-click the G-block, enter "0" for the program number. Next, press Enter and then input the text "M2415". The axis status device
M2415 shows if axis 1 is ready. We are telling the controller to wait until the axis is fully initialized before moving on to the next step.
Without such a delay in front of a motion command (K-block), an error is likely to occur.
5d
Double-click the K-block, enter "1" for the program number. Next, press Enter and select "Linear Interpol." as the Command Class and
"INC-1" as the Servo Command. Click OK. The Servo Program Editor window will now open.
In the Servo Program Editor window, set the Axis to 1 and the travel amount to 20000 PLS. Then set the Speed to 20000 PLS/s.
5e
Repeat step 5c.
5f
Repeat step 5d changing the travel amount to -20000 PLS.
5g
Connect each function block to the one after it by clicking the Connect button from the menu bar and then left-clicking on one block
and dragging to the next box.
Tab. 5-1:
Detailed procedure for preparing the SFC program
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
5-7
Project creation
Sample project creation with MT Developer2 and GX Developer
File Conversion, Download and Program Run
Click the Batch Conversion button from the menu bar. If all steps were followed correctly, you
should receive a "Complete successfully" message in the output bar at the bottom of the screen.
Batch
conversion
Output
screen
Transfer programs and parameters to the Motion controller using the setting in the screenshot
below.
5-8
Sample project creation with MT Developer2 and GX Developer
Project creation
Please refer to the "Writing project to the Motion/PLC CPU" section of this quick-start guide for
further details on writing/reading programs (section 5.2.3).
PLC program creation and download to PLC CPU
Start GX Developer and create a new project with the correct PLC series and PLC type as shown
below.
Select Q03UD as
PLC type in case
Q170MCPU is used.
In the "Project Window Menu" under "Parameter", double-click PLC parameter. This opens the "Q
parameter setting" pop-up window.
Click I/O assignment and afterwards Read PLC data.
Read PLC
Data
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
5-9
Project creation
Sample project creation with MT Developer2 and GX Developer
The pop-up warning windows shown below will appear:
Click Yes. Then close the "Q parameter setting" windows by clicking End confirming the chosen
setting.
Transfer programs and parameters to the PLC controller using the setting in the screenshot below.
Please refer to "Transfer setup" (section 5.2.1) for further information on transfer setup setting and
to "Writing project to the Motion/PLC CPU" (section 5.2.3) of this quick-start guide for further
information on writing/reading programs.
! Enjoy your program!
Cycle the power supply of Q170MCPU and MR-J3 servo both.
According to the program, you created, the motor will automatically rotate 1 revolution in both
directions. The movement will be stopped by using RUN/STOP switch at the Q170MCPU front
panel.
5 - 10
Additional procedures
5.2
Additional procedures
5.2.1
Transfer setup
Project creation
This section explains how to set the communication between PC and Q170MCPU/Q172DCPU by the
Transfer Setup screen.
For the sake of simplicity, it will be explained how to configure the communication by using a direct
connection with an USB cable.
Operating Procedure (Motion CPU access)
Double-click on Serial/USB button in the "PC side I/F" selection.
Select USB and close the pop-up window.
Select PLC module in the "CPU side I/F".
Select No specification in the "Other Station" setting.
Select PLC No.2 as "Target System".
Operating Procedure (PLC CPU access)
Double-click on Serial/USB button in the "PC side I/F" selection.
Select USB and close the pop-up window.
Select PLC module in the "CPU side I/F".
Select No specification in the "Other Station" setting.
Select PLC No.1 as "Target System".
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
5 - 11
Project creation
5.2.2
Additional procedures
Project opening
This section explains the method for reading a project saved in the hard disk or other memory media
of the personal computer.
Operating Procedure (MT Developer2 project)
Select "Project" - "Open Project". The "Open
Project" window appears.
Enter the folder (drive/path), where the
workspace is saved, in the Folder field.
Double click Workspace in the "Workspace/
Project List".
Select the project data. Details of the specified project data are displayed in the
"Project Name" and "Title" columns.
Click the Open button.
Operating Procedure (GX Developer project)
Select "Project" - "Open Project". The Open Project window appears.
Enter the folder (drive/path), where the workspace is saved, in the "Folder" field.
Select the project data.
Click the Open button.
5 - 12
Additional procedures
5.2.3
Project creation
Writing project to the Motion/PLC CPU
This section explains the method for writing a project saved in the hard disk or other memory media
of the personal computer to the Motion/PLC controller internal memory.
Operating Procedure (MT Developer2)
Select "Online" - "Write to CPU". The "Write to CPU" screen appears.
Select Program memory as target memory
to write to.
Click on Parameter+ Program to select the
data to be written.
Click the Execute button.
When a password is registered, the Password Check dialog box appears.
When program write is to be executed, a
message appears if there are programs that
have not been converted.
The screen on the left appears if the motion
controller is in RUN mode.
Click the OK button.
Once download is complete, another message will appear asking if you would like to place the
controller back in Run mode. Again, select Yes and then Close.
The specified data is written to the target memory. When writing is completed, the dialog box
appears notifying the process completion.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
5 - 13
Project creation
Additional procedures
Operating Procedure (GX Developer)
Select "Online" - "Write to PLC". The "Write to PLC" screen appears.
Select Program memory/Device memory
as target memory to write to.
Click on Parameter+ Program to select the
data to be written.
Click the Execute button.
When program write is to be executed, a
message appears if there are programs that
have not been converted.
The screen on the left appears if the motion
controller is in RUN mode.
Click the Yes button.
The specified data is written to the target memory. When writing is completed, the dialog box
appears notifying the process completion.
5 - 14
Additional procedures
5.2.4
Project creation
Monitoring function
Operating Procedure
Click the monitor icon of the application
jump toolbar on the main frame.
Monitor is started.
Clicking on the buttons in the shown toolbar is possible to select the devices to be monitored:
– Current value monitor
– Motion error
– Axis monitor
– Servo Monitor
– Positioning monitor
– …
NOTE
Refer to MT Developer2 Help for further information.
Tip: Press function key "F1" for immediate help on displayed function.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
5 - 15
Project creation
5.2.5
Additional procedures
Device monitoring and testing
Operating Procedure (MT Developer2)
Select "Online" - "Monitor" - "Commons" - "Entry Device Monitor".
The "Device Entry Monitor" screen appears.
Click Add. The "Device"/"Label" windows appears.
Select the device to be monitored and then push Register button.
The chosen devices will be displayed in the "Device Entry Monitor".
Click Close.
Click Start Monitoring button. The actual values of the registered devices will be displayed in the
column "Value".
Double-click the value of the Device to be
tested. The "Device Test" window appears.
Click Set or Reset to test the selected bit
device or Write Data to write a value into
the selected register.
5 - 16
Additional procedures
5.2.6
Project creation
Motion CPU change
This section explains the method for changing the CPU and OS types of the open project.
Operating Procedure
Open a project to change its CPU and OS types.
Opening existing projects.
Select "Project" - "Change CPU/OS Type".
The "CPU/OS Change" screen appears. Select a CPU type and OS type.
Click the OK button.
When the CPU type is changed from Q17nCPU to Q17nDCPU/Q170MCPU/Q17nHCPU, the following screen appears.
Click the Yes button to change the CPU or
OS type.
Click the No button to stop the change of
the CPU or OS type.
When changing from SV13 to SV22
The confirmation screen appears asking
wether to change the OS type.
Click the Yes button.
When changing from SV22 to SV13
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
5 - 17
Project creation
Additional procedures
A dialog box appears notifying the CPU and
OS types have been changed.
Click the OK button.
5 - 18
Sample program with OS SV22: 2_axes_motion
Sample programs
6
Sample programs
6.1
Sample program with OS SV22: 2_axes_motion
6.1.1
System configuration
Motion controller
Q170MCPU
Rotary switches
78 9
5
23 4 6
CD
AB E
78 9
CD
AB E
USB/RS232
5
23 4 6
Personal computer
IBM PC/AT
F01
F01
SSCNET III
SSCNET III cable
(MR-J3BUS첸M(-A/-B))
d01
d02
24 V DC
Forced stop input (24 V DC)
M
E
M
E
Extension cable
(QC첸B)
Extension base unit (QC55B)
QX80
QY80
Q173DPX
P
Input
Manual pulse generator/
Incremental synchronous encoder
Output
Fig. 6-1:
System configuration with Q170MCPU, two axes and extension base unit
PLC CPU/
Motion CPU
Main base unit
(Q3쏔DB)
Q61P
QnUD(H) Motion
CPU
CPU
QX80
QY80
Q173D
PX
100/200 V AC
P
USB/RS232
Manual pulse generator
(MR-HDP01)
Output
Input
Personal computer
IBM PC/AT
Forced stop input cable (Q170DEMICBL첸M)
EMI forced stop input (24 V DC)
SSCNET III (CN1)
Battery holder unit
Q170DBATC
Fig. 6-2:
d02
d01
SSCNET III cable
(MR-J3BUS첸M(-A/-B))
M
E
M
E
System configuration with Q172DCPU and two axes
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
6-1
Sample programs
6.1.2
Sample program with OS SV22: 2_axes_motion
Functions
Input
Function
Details
PX0
Forced stop
When PX0 turns off, servomotors are forced to stop and motion control is suspended (E7 warning).
PX1 and PX2 and
PX7
Tab. 6-1:
PX7
Motion mode
OFF
OFF
OFF
JOG mode
OFF
ON
OFF
Man. pulse generator mode
ON
OFF
OFF
Home position return mode
ON
ON
OFF
Operation mode (Real)
ON
ON
ON
Operation mode (Virtual)
Functions of the inputs
JOG mode
Man. pulse generator mode
Home position return mode
Operation mode (Real)
Operation mode (Virtual)
6-2
PX1
Motion selection
input
Motion mode
Tab. 6-2:
PX2
Details
PX3:
Axis 1 JOG forward rotation
PX4:
Axis 1 JOG reverse rotation
PX5:
Axis 2 JOG forward rotation
PX6:
Axis 2 JOG reverse rotation
Manual pulse generator operation of axis 1 is executed with the manual pulse
generator P1.
Manual pulse generator operation of axes 1 and 2 is executed with the manual
pulse generator P2.
PX3: OFF 씮 ON
Home position return of axis 1 is executed.
PX4: OFF 씮 ON
Home position return of axis 2 is executed
PX3: OFF 씮 ON
Sample movement (point-to-point)
PX4: OFF 씮 ON
Sample movement (linear interpolation)
2 synchronized cams movement automatically started.
NOTE: Home position required beforehand
Details of motion mode
Sample program with OS SV22: 2_axes_motion
6.1.3
Sample programs
System setting data of the motion CPU
SSCNET Line 1
Extension Base - Stage 1 : 5 Slots
Fig. 6-3:
Structure of the system (left) and of SSCNET III (right) with Q170MCPU
Main Base : 8 Slots
SSCNET Line 1
Fig. 6-4:
Structure of the system (left) and of SSCNET III (right) with QD motion controller
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
6-3
Sample programs
Sample program with OS SV22: 2_axes_motion
CPU specific send range
PLC
User setting area
Auto refresh
point (K)
I/O No.
point
Start
End
point
Start
End
CPU No. 1
7
U3E0
7168
G10000
G17167
0
—
—
CPU No. 2
7
U3E1
6468
G10000
G16467
700
G16468
G17167
PLC No. 1
CPU specific
send range
Auto refresh
No.
point
Start
End
Start
End
1
—
—
—
—
—
2
—
—
—
—
—
3
—
—
—
—
—
PLC No. 2
CPU specific
send range
Auto refresh
No.
point
Start
End
Start
End
1
20
M2000
M2319
G16468
G16487
2
40
M2400
M3039
G16488
G16527
3
640
D0
D639
G16528
G17167
Tab. 6-3:
6.1.4
Axis Data Setting
Fig. 6-5:
6-4
Multiple CPU setting - Auto refresh setting
Setting of the axis data
Sample program with OS SV22: 2_axes_motion
6.1.5
No.
Sample programs
Motion SFC Program
Program Name
Task
Auto.
END
Cont. Trans.
Executing Flag
Cycle
Interrupt
20
Main
Normal
Yes
—
—
Nothing
—
—
110
Motion control
Normal
No
—
—
Nothing
—
—
120
JOG
Normal
No
—
—
Nothing
—
—
130
Manual pulse gen
Normal
No
—
—
Nothing
—
—
140
Home position re
Normal
No
—
—
Nothing
—
—
150
Programming oper
Normal
No
—
—
Nothing
—
—
160
Virtual mode
Normal
No
—
—
Nothing
—
—
Tab. 6-4:
Program overview
Fig. 6-6:
Motion SFC Programs "Main", "JOG" and "Manual pulse generator"
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
6-5
Sample programs
Fig. 6-7:
6-6
Sample program with OS SV22: 2_axes_motion
Motion SFC Programs "Home position return" and "Motion control"
Sample program with OS SV22: 2_axes_motion
Fig. 6-8:
Sample programs
Motion SFC Program "Programming operation"
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
6-7
Sample programs
Sample program with OS SV22: 2_axes_motion
Fig. 6-9:
Motion SFC Program "Virtual mode"
6.1.6
Mechanical system program
V.1
Clutch:
Clutch ON/OFF Command Dev.: M12
Clutch Status Device: M13
Clutch:
Clutch ON/OFF Command Dev.: M10
Clutch Status Device: M11
Axis 1
CAM:
Cam No. Dev.: D2004
Stroke Setting Dev.: D2006
Number of Pulses/Rev.: 20 000 [PLS]
Fig. 6-10:
6-8
Mechanical system
Axis 2
CAM:
Cam No. Dev.: D2000
Stroke Setting Dev.: D2002
Number of Pulses/Rev.: 20 000 [PLS]
Sample program with OS SV22: 2_axes_motion
6.1.7
Sample programs
CAMs
Stroke Ratio
Stroke Ratio Graph
Absolute Angle [deg]
Speed
Speed Graph
Absolute Angle [deg]
Fig. 6-11: CAM 1 (Axis 1)
Stroke Ratio
Stroke Ratio Graph
Absolute Angle [deg]
Speed
Speed Graph
Absolute Angle [deg]
Fig. 6-12: CAM 2 (Axis 2)
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
6-9
Sample programs
6.2
Sample program with OS SV22: 2_axes_motion_no_inputs
Sample program with OS SV22: 2_axes_motion_no_inputs
This second sample program is mainly similar to the first one in section 6.1. The only difference is, that
the hard wired inputs have been replaced by internal bit devices.
System configuration
Personal computer
IBM PC/AT
Motion controller
Q170MCPU
Rotary switches
78 9
5
23 4 6
CD
AB E
78 9
CD
AB E
USB
5
23 4 6
6.2.1
F01
F01
SSCNET III
SSCNET cable
(MR-J3BUS첸M(-A/-B))
d01
d02
24 V DC
Forced stop input (24 V DC)
M
E
M
E
Fig. 6-13: System configuration with Q170MCPU and two axes
PLC CPU/
Motion CPU
Main base unit
(Q3쏔DB)
Q61P
QnUD(H) Motion
CPU
CPU
100/200 V AC
USB/RS232
Forced stop input cable (Q170DEMICBL첸M)
EMI forced stop input (24 V DC)
Personal computer
IBM PC/AT
SSCNET III (CN1)
Battery holder unit
Q170DBATC
Fig. 6-14: System configuration with Q172DCPU and two axes
6 - 10
d02
d01
SSCNET III cable
(MR-J3BUS첸M(-A/-B))
M
E
M
E
Sample program with OS SV22: 2_axes_motion_no_inputs
6.2.2
Functions
Bit Devices
Function
Details
M100
Forced stop
When M100 turns off, servomotors are forced to stop and motion control is suspended (E7 warning).
M101 and M102
and M107
Tab. 6-5:
Motion selection
input
JOG mode
Home position return mode
Operation mode (Real)
Operation mode (Virtual)
Tab. 6-6:
M102
M101
M107
OFF
OFF
OFF
Motion mode
JOG mode
ON
OFF
OFF
Home position return mode
ON
ON
OFF
Operation mode (Real)
ON
ON
ON
Operation mode (Virtual)
Functions of bit devices
Motion mode
NOTE
Sample programs
Details
M103:
Axis 1 JOG forward rotation
M104:
Axis 1 JOG reverse rotation
M105:
Axis 2 JOG forward rotation
M106:
Axis 2 JOG reverse rotation
M103: ON
Home position return of axis 1 is executed.
M104: ON
Home position return of axis 2 is executed
M103: OFF 씮 ON
Sample movement 1 (point-to-point)
M104: ON
Sample movement 2 (linear interpolation)
2 synchronized cams movement automatically started.
NOTE: Home position required beforehand
Details of motion mode
Refer to the section "Device monitor and testing" (section 5.2.5) of this quick-start guide for further
details of bit devices setting/resetting.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
6 - 11
Sample programs
6 - 12
Sample program with OS SV22: 2_axes_motion_no_inputs
Exterior Dimensions
Appendix
A
Appendix
A.1
Exterior Dimensions
A.1.1
Motion controller Q170MCPU
Unit: [mm]
38
MITSUBISHI
MODE
RUN
ERR.
USER
BAT.
PULL
BOOT
MITSUBISHI
MODE
RUN
ERR.
USER
BAT.
PULL
BOOT
Q170MCPU
Q170MCPU
POWER
POWER
USB
PERIPHERAL I/F
RESET STOP RUN
RS-232
RESET STOP RUN
PERIPHERAL I/F
USB
RS-232
EMI
EMI
CN1
EJECT
178
EJECT
154
161
CN1
168
8
7
EXT.IO
CARD
CARD
EXT.IO
FRONT
FRONT
OUT
OUT
24VDC
24VDC
PUSH
7
6
135
4.6
52
52
With battery holder
removed
Fig. A-1:
Dimensions of Q170MCPU
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
A-1
Appendix
A.1.2
Exterior Dimensions
Motion controller Q172DCPU and Q173DCPU
Unit: [mm]
Q172DCPU
D
ABC E
789
D
ABC E
F 01
23456
23456
F 01
789
1
STOP RUN
2
SW
CAUTION
CN1
98
EMI
FRONT
BAT
119.3
Fig. A-2:
27.4
Dimensions of Q172DCPU
Unit: [mm]
Q173DCPU
D
ABC E
789
D
ABC E
F 01
23456
23456
F 01
789
1
STOP RUN
2
SW
CAUTION
CN2
CN1
98
EMI
FRONT
BAT
119.3
Fig. A-3:
A-2
Dimensions of Q173DCPU
27.4
Troubleshooting
A.2
Appendix
Troubleshooting
The following flowcharts show the contents of the troubles with the motion controllers classified into
a variety of groups according to the types of events.
A.2.1
Q170MCPU
Error-occurrence description
"POWER" LED turns off
"." does not flash in the first digit of
7-segment LED
(b) "Flowchart for when "." does not flash in the first digit of
7-segment LED"
"A00" displays on 7-segment LED
(c) "Flowchart for when "A00" displays on 7-segment LED"
"AL" 씮 "L01" displays on 7-segment LED
Motion
CPU
area
"AL" 씮 "A1" 씮 "첸" displays on
7-segment LED
"BT첸" displays on 7-segment LED
(f ) "Flowchart for when "BT첸" displays on 7-segment LED"
Servo amplifier does not start
(h) "Flowchart for when the Servo amplifier does not start
"MODE" LED is flickering
"RUN" LED turns off
"RUN" LED is flickering
"ERR." LED turns on/is flickering
"USER" LED turns on
"BAT. " LED (Yellow) turns on
NOTE
(e) "Flowchart for when "AL" 씮 "A1" 씮 "첸" displays on
7-segment LED"
(g) "Flowchart for when "…" displays on 7-segment LED"
"MODE" LED does not turn on
Fig. A-4:
(d) "Flowchart for when "AL" 씮 "L01" displays on
7-segment LED"
"…" displays on 7-segment LED
"AL" 씮 "S01" displays on 7-segment LED
PLC
CPU
area
(a) "Flowchart for when "POWER LED" turns off"
(i) "Flowchart for when "AL" 씮 "S01" displays on
7-segment LED"
(j) "Flowchart for when "MODE" LED does not turn on"
(k) "Flowchart for when "MODE" LED is flickering"
(l) "Flowchart for when "RUN" LED turns off"
(m) "Flowchart for when "RUN" is flickering"
(n) "Flowchart for when "ERR." LED turns on/is flickering"
(o) "Flowchart for when "USER" LED turns on"
(p) "Flowchart for when "BAT. " LED (Yellow) turns on"
Troubleshooting flowchart for Q170MCPU
The procedure of fault finding for each event group (a) to (p), mentioned on the right side of the
above flowchart, is described in chapter 6 of the user’s manual of the motion controller
Q170MCPU.
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
A-3
Appendix
A.2.2
Troubleshooting
QD-Motion controller
Error-occurrence description
"POWER" LED turns off
"." does not flash in the first digit of
7-segment LED
(b) "Flowchart for when "." does not flash in the first digit of
7-segment LED"
"A00" displays on 7-segment LED
(c) "Flowchart for when "A00" displays on 7-segment LED"
"AL" 씮 "L01" displays on 7-segment LED
"AL" 씮 "A1" 씮 "첸" displays on
7-segment LED
"BT첸" displays on 7-segment LED
NOTE
A-4
(d) "Flowchart for when "AL" 씮 "L01" displays on 7-segment LED"
(e) "Flowchart for when "AL" 씮 "A1" 씮 "첸" displays on
7-segment LED"
(f ) "Flowchart for when "BT첸" displays on 7-segment LED"
"…" displays on 7-segment LED
(g) "Flowchart for when "…" displays on 7-segment LED"
Servo amplifier does not start
(h) "Flowchart for when the Servo amplifier does not start
"AL" 씮 "S01" displays on 7-segment LED
Fig. A-5:
(a) "Flowchart for when "POWER LED" turns off"
(i) "Flowchart for when "AL" 씮 "S01" displays on 7-segment LED"
Troubleshooting flowchart for Q172DCPU and Q173DCPU
The procedure of fault finding for each event group (a) to (i), mentioned on the right side of the
above flowchart, is described in chapter 6 of the user’s manual of the motion controllers
Q172DCPU and Q173DCPU.
Index
Index
B
Base unit
M
Module mounting
Module installation . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Module removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
Q172DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Q173DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
C
Motion-Control-System
CCW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Change of
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
CPU type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
O
OS type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
CPU type change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
CW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
Operating system
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
D
OS type change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-17
Dimensions
P
Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Q172DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Power supply
Q173DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
DOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
QD motion controller . . . . . . . . . . . . . . . . . . . . . . . .3-10
E
EMI
R
RLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Abbreviation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
Rotary switch setting
Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
F
Q172DCPU, Q173DCPU . . . . . . . . . . . . . . . . . . . . . . . 2-5
FLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
S
Forced stop input
Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7
QD motion controller . . . . . . . . . . . . . . . . . . . . . . . 3-10
Specification
Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Q172DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
I
I/F connector
Q170MCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8
I/F connector cable
Q173DCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
SSCNET III
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-11
Connection with Q170MCPU . . . . . . . . . . . . . . . .3-11
Differential-output type . . . . . . . . . . . . . . . . . . . . . .3-8
Connection with Q172DCPU . . . . . . . . . . . . . . . . .3-12
Open-collector type . . . . . . . . . . . . . . . . . . . . . . . . . .3-9
Connection with Q173DCPU . . . . . . . . . . . . . . . . .3-13
Voltage-output type . . . . . . . . . . . . . . . . . . . . . . . . . .3-9
Motion controller Q170MCPU/ Q172DCPU/ Q173DCPU
i
Index
ii
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Phone: +353 (0)1 4198800
Fax: +353 (0)1 4198890
MITSUBISHI ELECTRIC EUROPE B.V.
ITALY
Italian Branch
Viale Colleoni 7
I-20041 Agrate Brianza (MB)
Phone: +39 039 / 60 53 1
Fax: +39 039 / 60 53 312
MITSUBISHI ELECTRIC EUROPE B.V.
POLAND
Poland Branch
Krakowska 50
PL-32-083 Balice
Phone: +48 (0)12 / 630 47 00
Fax: +48 (0)12 / 630 47 01
MITSUBISHI ELECTRIC EUROPE B.V.
SPAIN
Spanish Branch
Carretera de Rubí 76-80
E-08190 Sant Cugat del Vallés (Barcelona)
Phone: 902 131121 // +34 935653131
Fax: +34 935891579
MITSUBISHI ELECTRIC EUROPE B.V.
UK
UK Branch
Travellers Lane
UK-Hatfield, Herts. AL10 8XB
Phone: +44 (0)1707 / 27 61 00
Fax: +44 (0)1707 / 27 86 95
MITSUBISHI ELECTRIC CORPORATION
JAPAN
Office Tower “Z” 14 F
8-12,1 chome, Harumi Chuo-Ku
Tokyo 104-6212
Phone: +81 3 622 160 60
Fax: +81 3 622 160 75
MITSUBISHI ELECTRIC AUTOMATION, Inc.
USA
500 Corporate Woods Parkway
Vernon Hills, IL 60061
Phone: +1 847 478 21 00
Fax: +1 847 478 22 53
GEVA
AUSTRIA
Wiener Straße 89
AT-2500 Baden
Phone: +43 (0)2252 / 85 55 20
Fax: +43 (0)2252 / 488 60
TEHNIKON
BELARUS
Oktyabrskaya 16/5, Off. 703-711
BY-220030 Minsk
Phone: +375 (0)17 / 210 46 26
Fax: +375 (0)17 / 210 46 26
ESCO DRIVES & AUTOMATION
BELGIUM
Culliganlaan 3
BE-1831 Diegem
Phone: +32 (0)2 / 717 64 30
Fax: +32 (0)2 / 717 64 31
Koning & Hartman b.v.
BELGIUM
Woluwelaan 31
BE-1800 Vilvoorde
Phone: +32 (0)2 / 257 02 40
Fax: +32 (0)2 / 257 02 49
INEA BH d.o.o.
BOSNIA AND HERZEGOVINA
Aleja Lipa 56
BA-71000 Sarajevo
Phone: +387 (0)33 / 921 164
Fax: +387 (0)33/ 524 539
AKHNATON
BULGARIA
4 Andrej Ljapchev Blvd. Pb 21
BG-1756 Sofia
Phone: +359 (0)2 / 817 6004
Fax: +359 (0)2 / 97 44 06 1
INEA CR d.o.o.
CROATIA
Losinjska 4 a
HR-10000 Zagreb
Phone: +385 (0)1 / 36 940 - 01/ -02/ -03
Fax: +385 (0)1 / 36 940 - 03
AutoCont C.S. s.r.o.
CZECH REPUBLIC
Technologická 374/6
CZ-708 00 Ostrava-Pustkovec
Phone: +420 595 691 150
Fax: +420 595 691 199
B:ELECTRIC, s.r.o.
CZECH REPUBLIC
Mladoboleslavská 812
CZ-197 00 Praha 19 - Kbely
Phone: +420 286 850 848, +420 724 317 975
Fax: +420 286 850 850
Beijer Electronics A/S
DENMARK
Lykkegårdsvej 17, 1.
DK-4000 Roskilde
Phone: +45 (0)46/ 75 76 66
Fax: +45 (0)46 / 75 56 26
Beijer Electronics Eesti OÜ
ESTONIA
Pärnu mnt.160i
EE-11317 Tallinn
Phone: +372 (0)6 / 51 81 40
Fax: +372 (0)6 / 51 81 49
Beijer Electronics OY
FINLAND
Jaakonkatu 2
FIN-01620 Vantaa
Phone: +358 (0)207 / 463 500
Fax: +358 (0)207 / 463 501
UTECO A.B.E.E.
GREECE
5, Mavrogenous Str.
GR-18542 Piraeus
Phone: +30 211 / 1206 900
Fax: +30 211 / 1206 999
MELTRADE Ltd.
HUNGARY
Fertő utca 14.
HU-1107 Budapest
Phone: +36 (0)1 / 431-9726
Fax: +36 (0)1 / 431-9727
Beijer Electronics SIA
LATVIA
Vestienas iela 2
LV-1035 Riga
Phone: +371 (0)784 / 2280
Fax: +371 (0)784 / 2281
Beijer Electronics UAB
LITHUANIA
Savanoriu Pr. 187
LT-02300 Vilnius
Phone: +370 (0)5 / 232 3101
Fax: +370 (0)5 / 232 2980
ALFATRADE Ltd.
MALTA
99, Paola Hill
Malta- Paola PLA 1702
Phone: +356 (0)21 / 697 816
Fax: +356 (0)21 / 697 817
INTEHSIS srl
MOLDOVA
bld. Traian 23/1
MD-2060 Kishinev
Phone: +373 (0)22 / 66 4242
Fax: +373 (0)22 / 66 4280
HIFLEX AUTOM.TECHNIEK B.V.
NETHERLANDS
Wolweverstraat 22
NL-2984 CD Ridderkerk
Phone: +31 (0)180 – 46 60 04
Fax: +31 (0)180 – 44 23 55
Koning & Hartman b.v.
NETHERLANDS
Haarlerbergweg 21-23
NL-1101 CH Amsterdam
Phone: +31 (0)20 / 587 76 00
Fax: +31 (0)20 / 587 76 05
Beijer Electronics AS
NORWAY
Postboks 487
NO-3002 Drammen
Phone: +47 (0)32 / 24 30 00
Fax: +47 (0)32 / 84 85 77
Sirius Trading & Services srl
ROMANIA
Aleea Lacul Morii Nr. 3
RO-060841 Bucuresti, Sector 6
Phone: +40 (0)21 / 430 40 06
Fax: +40 (0)21 / 430 40 02
Craft Con. & Engineering d.o.o.
SERBIA
Bulevar Svetog Cara Konstantina 80-86
SER-18106 Nis
Phone:+381 (0)18 / 292-24-4/5
Fax: +381 (0)18 / 292-24-4/5
INEA SR d.o.o.
SERBIA
Izletnicka 10
SER-113000 Smederevo
Phone: +381 (0)26 / 617 163
Fax: +381 (0)26 / 617 163
AutoCont Control s.r.o.
SLOVAKIA
Radlinského 47
SK-02601 Dolny Kubin
Phone: +421 (0)43 / 5868210
Fax: +421 (0)43 / 5868210
CS MTrade Slovensko, s.r.o.
SLOVAKIA
Vajanskeho 58
SK-92101 Piestany
Phone: +421 (0)33 / 7742 760
Fax: +421 (0)33 / 7735 144
INEA d.o.o.
SLOVENIA
Stegne 11
SI-1000 Ljubljana
Phone: +386 (0)1 / 513 8100
Fax: +386 (0)1 / 513 8170
Beijer Electronics AB
SWEDEN
Box 426
SE-20124 Malmö
Phone: +46 (0)40 / 35 86 00
Fax: +46 (0)40 / 35 86 02
Econotec AG
SWITZERLAND
Hinterdorfstr. 12
CH-8309 Nürensdorf
Phone: +41 (0)44 / 838 48 11
Fax: +41 (0)44 / 838 48 12
GTS
TURKEY
Bayraktar Bulvari Nutuk Sok. No:5
TR-34775 Yukari Dudullu-Umraniye-ISTANBUL
Phone: +90 (0)216 526 39 90
Fax: +90 (0)216 526 3995
CSC Automation Ltd.
UKRAINE
4-B, M. Raskovoyi St.
UA-02660 Kiev
Phone: +380 (0)44 / 494 33 55
Fax: +380 (0)44 / 494-33-66
MITSUBISHI
ELECTRIC
FACTORY AUTOMATION
EURASIAN REPRESENTATIVES
Kazpromautomatics Ltd.
Mustafina Str. 7/2
KAZ-470046 Karaganda
Phone: +7 7212 / 50 11 50
Fax: +7 7212 / 50 11 50
KAZAKHSTAN
MIDDLE EAST REPRESENTATIVES
ILAN & GAVISH Ltd.
ISRAEL
24 Shenkar St., Kiryat Arie
IL-49001 Petah-Tiqva
Phone: +972 (0)3 / 922 18 24
Fax: +972 (0)3 / 924 0761
TEXEL ELECTRONICS Ltd.
ISRAEL
2 Ha´umanut, P.O.B. 6272
IL-42160 Netanya
Phone: +972 (0)9 / 863 39 80
Fax: +972 (0)9 / 885 24 30
CEG INTERNATIONAL
LEBANON
Cebaco Center/Block A Autostrade DORA
Lebanon - Beirut
Phone: +961 (0)1 / 240 430
Fax: +961 (0)1 / 240 438
AFRICAN REPRESENTATIVE
CBI Ltd.
Private Bag 2016
ZA-1600 Isando
Phone: + 27 (0)11 / 928 2000
Fax: + 27 (0)11 / 392 2354
SOUTH AFRICA
Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com